6D Robotic Assembly Based on RGB-only Object Pose Estimation
Bowen Fu,Sek Kun Leong,Xiaocong Lian,Xiangyang Ji,Bowen Fu,Sek Kun Leong,Xiaocong Lian,Xiangyang Ji
Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and assemble blocks with tight tolerances. Aiming to provide an off-the-shelf RGB-only solution, our system is built upon a monocular 6D object pose estimation network tra...
